diff --git a/pointcloud_to_laserscan/CMakeLists.txt b/pointcloud_to_laserscan/CMakeLists.txt
index 003aa9a8..1bca25ae 100644
--- a/pointcloud_to_laserscan/CMakeLists.txt
+++ b/pointcloud_to_laserscan/CMakeLists.txt
@@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
   pcl_ros
   roscpp
   sensor_msgs
+  roslaunch
 )
 find_package(PCL REQUIRED)
 
@@ -28,14 +29,20 @@ target_link_libraries(pointcloud_to_laserscan ${catkin_LIBRARIES})
 add_executable(pointcloud_to_laserscan_node src/pointcloud_to_laserscan_node.cpp)
 target_link_libraries(pointcloud_to_laserscan_node pointcloud_to_laserscan ${catkin_LIBRARIES})
 
+roslaunch_add_file_check(launch)
+
 install(TARGETS pointcloud_to_laserscan pointcloud_to_laserscan_node
 	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
 install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 install(FILES nodelets.xml
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/pointcloud_to_laserscan/package.xml b/pointcloud_to_laserscan/package.xml
index f6f0d7ce..20432b12 100644
--- a/pointcloud_to_laserscan/package.xml
+++ b/pointcloud_to_laserscan/package.xml
@@ -20,6 +20,7 @@
     <build_depend>nodelet</build_depend>
     <build_depend>pcl_ros</build_depend>
     <build_depend>roscpp</build_depend>
+    <build_depend>roslaunch</build_depend>
     <build_depend>sensor_msgs</build_depend>
     <run_depend>dynamic_reconfigure</run_depend>
     <run_depend>libpcl-all-dev</run_depend>
@@ -28,6 +29,7 @@
     <run_depend>pcl_ros</run_depend>
     <run_depend>roscpp</run_depend>
     <run_depend>sensor_msgs</run_depend>
+    <run_depend>openni2_launch</run_depend>
 
     <export>
         <nodelet plugin="${prefix}/nodelets.xml"/>